CN110972071A - Multi-mode positioning method, positioning server, terminal and storage medium - Google Patents
Multi-mode positioning method, positioning server, terminal and storage medium Download PDFInfo
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- CN110972071A CN110972071A CN201911036775.3A CN201911036775A CN110972071A CN 110972071 A CN110972071 A CN 110972071A CN 201911036775 A CN201911036775 A CN 201911036775A CN 110972071 A CN110972071 A CN 110972071A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention provides a multimode positioning method, a positioning server, a terminal and a storage medium, wherein the method comprises the following steps: receiving and respectively storing current geographical position information of a plurality of positioning modules of a terminal; respectively calculating the reliability of the positioning information for each positioning module in cooperation with the current geographic position information and the historical position information of the terminal of the positioning module; and judging the credibility values of the positioning modules, so as to select the current geographical position information of one positioning module as the final current position information of the terminal. The invention takes the historical information of the terminal into the consideration factor range, calculates and judges the credibility values of all the positioning modules, and finally selects the current geographic position information of one of the positioning modules as the final current position information of the terminal, thereby avoiding the positioning data distortion caused by artificial or non-artificial factors and avoiding the dependence on other peripheral equipment.
Description
Technical Field
The invention relates to a multimode positioning-based method, a positioning server, a terminal and a storage medium.
Background
At present, terminals and systems with Beidou and GPS dual-mode satellite positioning functions are increasingly popularized, and GIS systems are also increasingly applied to scheduling monitoring systems in various industries. However, the current terminals and systems generally have the following problems:
firstly, although the prior terminal supports Beidou and GPS dual-mode positioning at the same time, the prior terminal cannot work in full duplex mode, only receives positioning information at the same time, and only selects one path of data to transmit when transmitting the positioning information to a monitoring platform;
secondly, the dual-mode positioning of the current terminal is only simple for improving the positioning accuracy, but the reliability of the positioning information is not considered;
in addition, some positioning servers rely on surrounding adjacent terminals in the process of calculating the reliability, and the scene limitation is large.
Chinese invention with publication number CN105578591A and publication date 20160511 discloses a positioning method, a positioning server and a terminal, the method comprising: the positioning server receives a positioning request message sent by the positioning terminal, wherein the positioning request message is used for triggering the positioning server to position the positioning terminal; acquiring position information and reliability verification information of adjacent terminals of a positioning terminal, determining the reliability of the position information of the adjacent terminals according to the reliability verification information, and expressing the accuracy degree of the position information of the adjacent terminals by using the reliability; determining the position information of the positioning terminal according to the position information and the credibility of the adjacent terminal; and sending the position information of the positioning terminal to the positioning terminal. According to the embodiment of the invention, the position information and the reliability verification information of the adjacent terminal of the positioning terminal are obtained through the positioning server, so that the reliability of the position information of the adjacent terminal is determined, the position information of the positioning terminal is determined according to the position information and the reliability of the adjacent terminal, and the positioning accuracy can be improved.
The chinese invention with publication number CN109379700A and publication date 20190222 discloses a positioning method and a mobile terminal, and the method is applied to the mobile terminal and includes: receiving first position information reported by a WiFi module and second position information reported by a GNSS; determining a position weight according to a first credibility of first position information and a second credibility of second position information, wherein the position weight is a position offset weight of the first position information and the second position information; determining a position offset according to the first position information and the second position information; and determining target position information according to the position offset, the position weight and the first position information. By the positioning method provided by the embodiment of the invention, the target position information can be comprehensively determined by combining the first position information reported by the WiFi module and the second position information reported by the GNSS, so that the positioning is closer to the actual position, and the positioning accuracy is improved. However, the method depends on the WIFI environment, cannot acquire WIFI signals in the environment such as the field, and is greatly limited in applicable scenes.
The invention discloses a trusted positioning method, which is disclosed in China with publication number CN107707648A and publication number 20180216, and aims to solve the problem of low reliability of positioning information obtained by the existing positioning method. The technical scheme is that a trusted positioning service system composed of a server side and a client side is established, and the client side is provided with a positioning and IP data acquisition module, a delay acquisition module and a display module; a positioning response module, a positioning evaluation module, an IPURL position database, a position delay database and a historical record database are installed at the server side; the positioning and IP data acquisition module acquires positioning information and an IP address of a client and sends a positioning request, the positioning response module responds to the positioning request, the delay acquisition module performs delay analysis on the request response, acquires the delay from the client to the IP address or URL, and generates a total delay list; and the positioning evaluation module evaluates the longitude and latitude according to the total delay list, and the display module receives and displays the display request. The method and the device can provide credibility evaluation of the positioning data and improve the credibility of the positioning information. However, the positioning accuracy of the IP network in the method is very low, and the method can be generally positioned only to specific houses and the like, and the applicable scene is narrower.
Although the above-described disclosed invention has been considered with respect to reliability, there is no description of taking the history information of the terminal into consideration.
Disclosure of Invention
The present invention provides a multimode positioning method, a positioning server, a terminal and a storage medium, which are used for calculating and judging the credibility values of each positioning module by taking the history information of the terminal into consideration, and finally selecting the current geographic position information of one positioning module as the final current position information of the terminal.
In a first aspect, the present invention provides a multimode positioning method, including:
receiving and respectively storing current geographical position information of a plurality of positioning modules of a terminal;
respectively calculating the reliability of the positioning information for each positioning module in cooperation with the current geographic position information and the historical position information of the terminal of the positioning module;
and judging the credibility values of the positioning modules, so as to select the current geographical position information of one positioning module as the final current position information of the terminal.
In a second aspect, the present invention provides a positioning server, comprising:
the receiving module is used for receiving the current geographic position information of a plurality of positioning modules of the terminal;
the storage module is used for respectively storing the current geographical position information of the plurality of positioning modules;
the credibility calculation module is used for calculating the credibility of the positioning information for each positioning module in cooperation with the current geographic position information and the historical position information of the terminal of the positioning module;
and the terminal position determining module is used for judging the reliability value of each positioning module so as to select the current geographic position information of one positioning module as the final current position information of the terminal.
In a third aspect, the present invention provides a terminal, including:
the multimode positioning module consists of a plurality of positioning modules and is respectively used for receiving the current geographic position information positioned by the plurality of positioning systems;
the summarizing identification module is used for summarizing and identifying the current geographic position information of each positioning module;
the sending module is used for sending the current geographical position information of each positioning module after the summary identification to a positioning server for the positioning server to calculate the reliability of the positioning information;
and the receiving module is used for receiving the final current position information which is sent by the positioning server and is obtained according to the judgment of the credibility value of each positioning module.
In a fourth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of the first aspect.
The invention has the following advantages:
(1) optimizing the positioning precision: the multimode positioning mode provided by the system can make up for the deficiencies of the positioning information and adopt positioning data with higher positioning precision, can avoid positioning data distortion caused by artificial or non-artificial factors, and can more effectively obtain the reliability of the positioning information through analysis and calculation of historical data;
(2) avoiding the positioning process to depend on other terminal equipment:
the positioning method provided by the system does not need positioning data of other equipment, and is based on the multi-module historical positioning data of the equipment to carry out calculation and comparison, so that dependence on other peripheral equipment is avoided, and the scheme has wider application scenes.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a system architecture diagram of a location server of the present invention.
Fig. 3 is a system architecture diagram of the terminal of the present invention.
Fig. 4 is a diagram illustrating an exemplary application scenario architecture of the present invention.
Fig. 5 is a flowchart of a terminal location data reliability calculation according to an embodiment of the present invention.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea: and calculating and judging the credibility values of all the positioning modules by taking the historical information of the terminal into the consideration factor range, and finally selecting the current geographic position information of one positioning module as the final current position information of the terminal.
Example one
The present embodiment provides a multimode positioning method, please refer to fig. 1, which includes:
receiving and respectively storing current geographical position information of a plurality of positioning modules of a terminal;
respectively calculating the reliability of the positioning information for each positioning module in cooperation with the current geographic position information and the historical position information of the terminal of the positioning module; the historical data is recorded after being reported by the terminal, no historical data exists initially, and the first position information is used as initial historical data. The confidence level method for calculating the new position information of each module is as follows:
(1) and obtaining the predicted position by adopting a track prediction algorithm according to the historical position information. (there are many existing trajectory prediction algorithms, such as the available web addresses:
http:// www.ejournal.org.cn/CN/arrow/downloadArticleFile. do? PDF & id 10631).
(2) If the predicted position is P1(X1, Y1) and the module actually reports the position as P2(X2, Y2), the confidence level of P2 is the inverse of the distance from P2 to P1 multiplied by the weight of the number of positioning satellites. The weight of the number of the positioning satellites is adjusted according to the number of the satellites and the positioning precision, the more the number of the satellites participating in positioning is, the higher the weight is, for example, the number of the GPS positioning satellites in a certain area is greater than the number of the Beidou positioning satellites, and the weight of the GPS can be set to be higher than that of the Beidou; or the higher the positioning accuracy of the positioning satellite in the positioning area is, the higher the weight is, for example, in the case that the positioning accuracy of north american GPS is higher than that of beidou, and the same number of satellites is, the GPS weight may be set to 1, and the beidou weight may be set to 0.8.
And judging the credibility values of the positioning modules, so as to select the current geographical position information of one positioning module as the final current position information of the terminal. The process of judging the credibility values of the positioning modules is as follows:
(1) calculating the reliability average value and standard deviation of the positioning data of each positioning module; the reliability average value is an average value of the same positioning data of a plurality of positioning modules;
(2) filtering data with the reliability out of the standard deviation range;
(3) and selecting the positioning data with the highest credibility data value within the range of the credibility standard deviation.
Based on the same inventive concept, the application also provides a device corresponding to the method in the first embodiment, wherein the device is a positioning server, and the details are shown in the second embodiment.
Example two
Referring to fig. 2, in the present embodiment, a positioning server is provided, and a system architecture of the positioning server is shown in fig. 2, including:
the receiving module is used for receiving the current geographic position information of a plurality of positioning modules of the terminal;
the storage module is used for respectively storing the current geographical position information of the plurality of positioning modules;
the credibility calculation module is used for calculating the credibility of the positioning information for each positioning module in cooperation with the current geographic position information and the historical position information of the terminal of the positioning module;
and the terminal position determining module is used for judging the reliability value of each positioning module so as to select the current geographic position information of one positioning module as the final current position information of the terminal.
Since the apparatus described in the second embodiment of the present invention is an apparatus used for implementing the method of the first embodiment of the present invention, based on the method described in the first embodiment of the present invention, a person skilled in the art can understand the specific structure and the deformation of the apparatus, and thus the details are not described herein. All the devices adopted in the method of the first embodiment of the present invention belong to the protection scope of the present invention.
Based on the same inventive concept, the application also provides an embodiment of a device corresponding to the method in the first embodiment, wherein the device is a terminal, and details are shown in the third embodiment.
EXAMPLE III
As shown in fig. 3, as a cooperation to the method in the first embodiment, the terminal includes the following modules:
the multimode positioning module consists of a plurality of positioning modules and respectively and correspondingly receives the current geographic position information positioned by the plurality of positioning systems; if the system can support Beidou, GPS and other positioning module systems, and each positioning module can work simultaneously to receive the current geographic position information positioned by a plurality of positioning systems simultaneously.
The summarizing identification module is used for summarizing and identifying the current geographic position information of each positioning module;
the sending module is used for sending the current geographical position information of each positioning module after the summary identification to a positioning server for the positioning server to calculate the reliability of the positioning information;
and the receiving module is used for receiving the final current position information which is sent by the positioning server and is judged according to the credibility values of the positioning modules.
Referring to fig. 4, a typical application scenario of the present invention is disclosed, which is composed of a plurality of positioning systems, the terminal of the present invention and the positioning server of the present invention. The positioning process of each part is as follows:
s1, the multimode positioning module of the terminal receives the current geographical position information of a plurality of positioning systems such as Beidou and GPS at the same time, including position information and precision information.
And S2, the sending module of the terminal collects and identifies the current geographic position information of the multimode positioning module and transmits the collected and identified information to the positioning server through the data network.
And S3, after receiving the current geographic position information of the multiple positioning modules of the terminal, the positioning server stores each current geographic position information by the sub-modules.
And S4, the positioning server respectively calculates the credibility of the historical positioning information of all the positioning modules and the current geographical position information reported this time to obtain the credibility value of the positioning information of each positioning module.
S5, the positioning server determines which positioning module 'S current geographical position information is used as the terminal' S final current positioning information in the currently reported multimode positioning data according to the credibility values of the positioning modules.
And S6, the positioning server updates the terminal historical positioning information with the final current positioning information of the terminal and simultaneously issues the terminal historical positioning information to the corresponding terminal.
As shown in fig. 5, in the present invention, for each positioning module, a track prejudgment algorithm is adopted to calculate the reliability of the current position information:
suppose that:
PGPS-Hrepresenting historical positioning information of the GPS module;
CGPSrepresenting the reliability of the positioning information of the GPS module;
PBDS-Hrepresenting historical positioning information of the Beidou module;
CBDSrepresenting the reliability of the Beidou positioning information;
meanwhile, the following assumptions are that: according to PGPS-HOr PBDS-HThe point predicted by the trajectory prediction algorithm is P1(X1, Y1), the location module actually reports the location as P2(X2, Y2),
then: the confidence level of P2 is the weight of the inverse of the distance P2 to P1;
in the formula, WGPSWeight representing GPS location, and WBDSRepresenting the weight of BDS positioning, namely the positioning server calculates the credibility C of the positioning information reported by each module according to the historical positioning track PT of the terminalGPS-TAnd CBDS-T。
Finally, the positioning server makes a decision according to the calculated credibility value to finally determine positioning data and the positioning dataReliability C ofT. The method comprises the following steps:
(1) calculating the reliability average value and standard deviation of the positioning data of each positioning module;
mean confidence value of CE＝(CGPS+CBDS+……+Cn)/n；
CnReferring to the nth other positioning module, wherein n represents the number of all positioning modules, and if only a GPS positioning module and a BDS positioning module are available, n is 2;
(2) filtering data with the reliability out of the standard deviation range;
(3) and selecting the positioning data with the highest credibility data value within the range of the credibility standard deviation.
If the highest value of the confidence data is max (C)GPS,CBDS,…,Ck,…,Cn)＝CkThen C iskI.e. the confidence value of the corresponding positioning module.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
(1) optimizing the positioning precision: the multimode positioning mode provided by the system can make up for the deficiencies of the positioning information and adopt positioning data with higher positioning precision, can avoid positioning data distortion caused by artificial or non-artificial factors, and can more effectively obtain the reliability of the positioning information through analysis and calculation of historical data;
(2) avoiding the positioning process to depend on other terminal equipment:
the positioning method provided by the system does not need positioning data of other equipment, and is based on the multi-module historical positioning data of the equipment to carry out calculation and comparison, so that dependence on other peripheral equipment is avoided, and the scheme has wider application scenes.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (10)
1. A multi-mode positioning method, characterized by: the method comprises the following steps:
receiving and respectively storing current geographical position information of a plurality of positioning modules of a terminal;
respectively calculating the reliability of the positioning information for each positioning module in cooperation with the current geographic position information and the historical position information of the terminal of the positioning module;
and judging the credibility values of the positioning modules, so as to select the current geographical position information of one positioning module as the final current position information of the terminal.
2. The multimode positioning method of claim 1, wherein: the method for calculating the reliability of the module positioning information specifically comprises the following steps:
(1) acquiring a predicted position by adopting a track prediction algorithm according to the historical position information of the terminal;
(2) if the predicted position is P1(X1, Y1), and the current position information actually reported by the positioning module is P2(X2, Y2), the confidence level of P2 is the weight of the inverse of the distance from P2 to P1 × the number of positioning satellites.
3. The multimode positioning method of claim 2, wherein: the weight of the positioning satellite number is adjusted according to the satellite number and the positioning accuracy, and the weight is higher when the number of the satellites participating in positioning is larger, or the weight is higher according to the positioning accuracy of the positioning satellites in the positioning area.
4. The multimode positioning method of claim 1, wherein: the method for judging the reliability value of each positioning module specifically comprises the following steps:
(1) calculating the reliability average value and the standard deviation of the positioning data of each positioning module, wherein the reliability average value is the average value of the same positioning data of a plurality of positioning modules;
(2) filtering data with the reliability out of the standard deviation range;
(3) and selecting the positioning data with the highest credibility data value within the range of the credibility standard deviation.
5. A positioning server, comprising:
the receiving module is used for receiving the current geographic position information of a plurality of positioning modules of the terminal;
the storage module is used for respectively storing the current geographical position information of the plurality of positioning modules;
the credibility calculation module is used for calculating the credibility of the positioning information for each positioning module in cooperation with the current geographic position information and the historical position information of the terminal of the positioning module;
and the terminal position determining module is used for judging the reliability value of each positioning module so as to select the current geographic position information of one positioning module as the final current position information of the terminal.
6. A positioning server according to claim 5, characterized by: the method for calculating the reliability by the reliability calculation module specifically comprises the following steps:
(1) acquiring a predicted position by adopting a track prediction algorithm according to the historical position information of the terminal;
(2) if the predicted position is P1(X1, Y1), and the current position information actually reported by the positioning module is P2(X2, Y2), the confidence level of P2 is the weight of the inverse of the distance from P2 to P1 × the number of positioning satellites.
7. A positioning server according to claim 6, characterized by: the weight of the positioning satellite number is adjusted according to the satellite number and the positioning accuracy, and the weight is higher when the number of the satellites participating in positioning is larger, or the weight is higher according to the positioning accuracy of the positioning satellites in the positioning area.
8. A positioning server according to claim 5, characterized by: the method for judging the reliability value of each positioning module specifically comprises the following steps:
(1) calculating the reliability average value and the standard deviation of the positioning data of each positioning module, wherein the reliability average value is the average value of the same positioning data of a plurality of positioning modules;
(2) filtering data with the reliability out of the standard deviation range;
(3) and selecting the positioning data with the highest credibility data value within the range of the credibility standard deviation.
9. A terminal, characterized by: the method comprises the following steps:
the multimode positioning module consists of a plurality of positioning modules and is respectively used for receiving the current geographic position information positioned by the plurality of positioning systems;
the summarizing identification module is used for summarizing and identifying the current geographic position information of each positioning module;
the sending module is used for sending the current geographical position information of each positioning module after the summary identification to a positioning server for the positioning server to calculate the reliability of the positioning information;
and the receiving module is used for receiving the final current position information which is sent by the positioning server and is obtained according to the judgment of the credibility value of each positioning module.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 4.
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Application publication date: 20200407 |